These files contain the code for 3-axis orientation  The input are the 
x,y,and z angles and the roll, pitch, and yaw inputs,  and the outputs
are the new x,y and z angles.   The yawpitch program takes the inputs
in degrees and returns the new attitude angles, with prompting for 
additional pitch, yaw and roll angles.

Please feel free to use the orient routines/formulas in any flight
sim or 3d games you make; I'm sick of sims that hiccup whenever I 
go vertical.